Detailed Description of Log Types

Error Log

Records errors occurring in the controller. The most recent 1,000 errors are recorded.

The error log is regularly updated.

• Date/time
• Module
  Invoker
• Code
  Error code
• Message
• Level
  Error level
• Filename, LineNumber
  Name of the file and the line number in which error occurred.
• Uptime

Operation Log

This is a record of controller operations. The most recent 1,000 items are recorded.

The operation log is regularly updated.

• Date/time
• Client
  The device that was operated is recorded. (Pendant: Teach pendant. PC: WINCAPSIII, etc. PC. I/O: I/O. System: System)
• Code
• Operation
• Uptime

Control Log

A record of the robot's control, including movement of axes, current values, load ratios, etc.

This is useful in the following cases.

• Checking robot behavior within a specified range.
• Checking the age deterioration of the robot.
• Approximating the minimal load on the motor by predicting load ratios.

The recording interval and recording time can be set for control log.
Recording can be made manually from the teach pendant or WINCAPSIII or through program operations.

The following items are recorded for the log data.

• Axis command values [deg or mm]
  Axis angles commanded by the controller in the specified recording interval
• Axis encoder value [deg or mm]
  Current axis angle values (actual values)
• Axis current values [%]
  Current values in the motors of the axes (compared with the rated value)

  In RC7M, the displayed value was a value compared with the overcurrent error detection level.

• Axis load ratios [%]
  Load ratios in the axes

Trace Logging

Trace logging records the program execution flow and timing.

The data recorded is as follows.

• PRO Name, Line Number
• Code
  Program code
• Logtime [ms]
• Uptime [ms]

Servo Log

More detailed recording of motor control.

The recording interval can be set from 1-8 ms.

The recording time can be set from 10-60 s.

The data recorded in the log can be selected with the teach pendant.

• Motor speed [r/min]
• Real speed [r/min]
• Torque [% of rating]
• Deviation [deg]
• Current [%]
• Instruction [deg or mm]
• Encoder [deg or mm]

The recording range can be specified with the program and the teach pendant.